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feat: delete redundant fields

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slz
2026-05-14 17:13:52 +08:00
parent 1a297ff2fd
commit d3e075aa2d
2 changed files with 24 additions and 43 deletions
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orbbec_camera/src/frame_timestamp_csv_logger.cpp
+8 -28
View File
@@ -310,7 +310,7 @@ void FrameTimestampCsvLogger::populateArrivalData(StreamState &state, TrackedStr
} }
state.global_ts_delta_us = updateDelta(previous.global_ts_us, state.global_ts_us); state.global_ts_delta_us = updateDelta(previous.global_ts_us, state.global_ts_us);
state.sdk_system_ts_delta_us = updateDelta(previous.sdk_system_ts_us, state.sdk_system_ts_us); state.sdk_system_ts_delta_us = updateDelta(previous.sdk_system_ts_us, state.sdk_system_ts_us);
state.arrival_system_delta_us = updateDelta(previous.arrival_system_us, state.arrival_system_us); previous.arrival_system_us = state.arrival_system_us;
state.arrival_steady_delta_us = updateDelta(previous.arrival_steady_us, state.arrival_steady_us); state.arrival_steady_delta_us = updateDelta(previous.arrival_steady_us, state.arrival_steady_us);
state.sdk_delay_from_global_us = state.arrival_system_us - state.global_ts_us; state.sdk_delay_from_global_us = state.arrival_system_us - state.global_ts_us;
state.sdk_delay_from_system_us = state.arrival_system_us - state.sdk_system_ts_us; state.sdk_delay_from_system_us = state.arrival_system_us - state.sdk_system_ts_us;
@@ -323,11 +323,9 @@ void FrameTimestampCsvLogger::populatePublishData(StreamState &state, TrackedStr
state.publish_system_us = publish_system_us; state.publish_system_us = publish_system_us;
state.publish_steady_us = publish_steady_us; state.publish_steady_us = publish_steady_us;
state.publish_system_delta_us = previous.publish_system_us = state.publish_system_us.value();
updateDelta(previous.publish_system_us, state.publish_system_us.value());
state.publish_steady_delta_us = state.publish_steady_delta_us =
updateDelta(previous.publish_steady_us, state.publish_steady_us.value()); updateDelta(previous.publish_steady_us, state.publish_steady_us.value());
state.arrival_to_publish_system_us = state.publish_system_us.value() - state.arrival_system_us;
state.arrival_to_publish_steady_us = state.publish_steady_us.value() - state.arrival_steady_us; state.arrival_to_publish_steady_us = state.publish_steady_us.value() - state.arrival_steady_us;
} }
@@ -393,7 +391,7 @@ std::string FrameTimestampCsvLogger::serializeRow(const PendingRow &row) const {
} }
std::string FrameTimestampCsvLogger::serializeStreamColumns(const StreamState &state) const { std::string FrameTimestampCsvLogger::serializeStreamColumns(const StreamState &state) const {
std::vector<std::string> fields(22, ""); std::vector<std::string> fields(15, "");
if (state.has_frame) { if (state.has_frame) {
fields[0] = std::to_string(state.frame_index); fields[0] = std::to_string(state.frame_index);
fields[1] = formatOptionalIntColumn(state.metadata_frame_number); fields[1] = formatOptionalIntColumn(state.metadata_frame_number);
@@ -407,22 +405,11 @@ std::string FrameTimestampCsvLogger::serializeStreamColumns(const StreamState &s
fields[7] = formatOptionalIntColumn(state.global_ts_delta_us); fields[7] = formatOptionalIntColumn(state.global_ts_delta_us);
fields[8] = formatSecondsColumn(state.sdk_system_ts_us); fields[8] = formatSecondsColumn(state.sdk_system_ts_us);
fields[9] = formatOptionalIntColumn(state.sdk_system_ts_delta_us); fields[9] = formatOptionalIntColumn(state.sdk_system_ts_delta_us);
fields[10] = formatSecondsColumn(state.arrival_system_us); fields[10] = formatOptionalIntColumn(state.arrival_steady_delta_us);
fields[11] = formatOptionalIntColumn(state.arrival_system_delta_us); fields[11] = formatOptionalIntColumn(state.publish_steady_delta_us);
fields[12] = formatSecondsColumn(state.arrival_steady_us); fields[12] = formatOptionalIntColumn(state.arrival_to_publish_steady_us);
fields[13] = formatOptionalIntColumn(state.arrival_steady_delta_us); fields[13] = formatOptionalIntColumn(state.sdk_delay_from_global_us);
if (state.publish_system_us.has_value()) { fields[14] = formatOptionalIntColumn(state.sdk_delay_from_system_us);
fields[14] = formatSecondsColumn(state.publish_system_us.value());
}
fields[15] = formatOptionalIntColumn(state.publish_system_delta_us);
if (state.publish_steady_us.has_value()) {
fields[16] = formatSecondsColumn(state.publish_steady_us.value());
}
fields[17] = formatOptionalIntColumn(state.publish_steady_delta_us);
fields[18] = formatOptionalIntColumn(state.arrival_to_publish_system_us);
fields[19] = formatOptionalIntColumn(state.arrival_to_publish_steady_us);
fields[20] = formatOptionalIntColumn(state.sdk_delay_from_global_us);
fields[21] = formatOptionalIntColumn(state.sdk_delay_from_system_us);
} }
std::ostringstream ss; std::ostringstream ss;
@@ -461,15 +448,8 @@ std::string FrameTimestampCsvLogger::csvHeader() {
ss << prefix << "_global_ts_delta_us,"; ss << prefix << "_global_ts_delta_us,";
ss << prefix << "_system_ts_sec,"; ss << prefix << "_system_ts_sec,";
ss << prefix << "_system_ts_delta_us,"; ss << prefix << "_system_ts_delta_us,";
ss << prefix << "_arrival_system_sec,";
ss << prefix << "_arrival_system_delta_us,";
ss << prefix << "_arrival_steady_sec,";
ss << prefix << "_arrival_steady_delta_us,"; ss << prefix << "_arrival_steady_delta_us,";
ss << prefix << "_publish_system_sec,";
ss << prefix << "_publish_system_delta_us,";
ss << prefix << "_publish_steady_sec,";
ss << prefix << "_publish_steady_delta_us,"; ss << prefix << "_publish_steady_delta_us,";
ss << prefix << "_arrival_to_publish_system_us,";
ss << prefix << "_arrival_to_publish_steady_us,"; ss << prefix << "_arrival_to_publish_steady_us,";
ss << prefix << "_sdk_delay_from_global_us,"; ss << prefix << "_sdk_delay_from_global_us,";
ss << prefix << "_sdk_delay_from_system_us"; ss << prefix << "_sdk_delay_from_system_us";
orbbec_camera/src/ob_camera_node.cpp
+16 -15
View File
@@ -3735,8 +3735,22 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (frame_set == nullptr) { if (frame_set == nullptr) {
return; return;
} }
const auto frame_set_arrival_system_us = getSystemNowUs(); if (frame_timestamp_csv_logger_ && frame_timestamp_csv_logger_->enabled()) {
const auto frame_set_arrival_steady_us = getSteadyNowUs(); const auto frame_set_arrival_system_us = getSystemNowUs();
const auto frame_set_arrival_steady_us = getSteadyNowUs();
auto final_color_frame = frame_set->getFrame(OB_FRAME_COLOR);
auto final_depth_frame = frame_set->getFrame(OB_FRAME_DEPTH);
const bool track_color = enable_stream_[COLOR] && static_cast<bool>(final_color_frame);
const bool track_depth = enable_stream_[DEPTH] && static_cast<bool>(final_depth_frame);
const bool color_publish_expected = track_color;
const bool depth_publish_expected = track_depth;
frame_timestamp_csv_logger_->recordFrameSet(
final_color_frame, final_depth_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
depth_publish_expected);
}
try { try {
if (!tf_published_) { if (!tf_published_) {
publishStaticTransforms(); publishStaticTransforms();
@@ -3801,19 +3815,6 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
"null or color frame is null"); "null or color frame is null");
} }
auto final_color_frame = frame_set->getFrame(OB_FRAME_COLOR);
auto final_depth_frame = frame_set->getFrame(OB_FRAME_DEPTH);
if (frame_timestamp_csv_logger_ && frame_timestamp_csv_logger_->enabled()) {
const bool track_color = enable_stream_[COLOR] && static_cast<bool>(final_color_frame);
const bool track_depth = enable_stream_[DEPTH] && static_cast<bool>(final_depth_frame);
const bool color_publish_expected = track_color;
const bool depth_publish_expected = track_depth;
frame_timestamp_csv_logger_->recordFrameSet(
final_color_frame, final_depth_frame, frame_set_arrival_system_us,
frame_set_arrival_steady_us, track_color, track_depth, color_publish_expected,
depth_publish_expected);
}
// Refresh frame from current frameset before logging to reflect post-filter/alignment output. // Refresh frame from current frameset before logging to reflect post-filter/alignment output.
for (const auto &stream_index : IMAGE_STREAMS) { for (const auto &stream_index : IMAGE_STREAMS) {
if (!enable_stream_[stream_index]) { if (!enable_stream_[stream_index]) {